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Learning control of elastic joint robot and its application to the industrial robot manipulator

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3 Author(s)
Wada, M. ; Fuji Electric Corp. Res. & Dev. Ltd., Japan ; Tsukahara, T. ; Tsuda, K.

Learning control, a methodology for obtaining a reference input pattern that enables an actual output of a robot manipulator to coincide with a desired one, is modified and applied to a manipulator with an elastic-joint robot. This type of learning control is suitable for actual industrial robot control systems that have independent feedback controllers with each joint. Learning control has been implemented for a single-link elastic-joint robot. Improved high-speed motion has been achieved. Experiments on an industrial manipulator show that the problem of vibration encountered in high-speed motion is mitigated

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993